External parameter calibration method, device and equipment of vehicle-mounted camera and storage medium

Abstract

The invention relates to an external parameter calibration method, device and equipment for a vehicle-mounted camera and a storage medium, and the method comprises the steps: determining a target mapping image according to a current frame image and a previous frame image, and determining a target mapping image according to a plurality of first pixel points in the previous frame image and a plurality of second pixel points in the current frame image included in the target mapping image; determining a plurality of target straight lines, wherein a first pixel point and a second pixel point in each target straight line correspond to the same feature point; determining a target vanishing point from all pixel points in the target mapping image according to the plurality of target straight lines; acquiring internal parameter data and external parameter initial data of the vehicle-mounted camera; and determining external parameter calibration data of the vehicle-mounted camera according to the target vanishing point, the internal parameter data and the external parameter initial data. According to the method, the target vanishing point can be determined based on the pixel points in the two adjacent frames, real-time calibration of the vehicle-mounted camera can be realized when the vehicle runs on a lane-line-free road, and the target distance measurement stability in the vehicle running process is improved.

Description

technical field [0001] The invention relates to the technical field of camera calibration, in particular to a method, device, equipment and storage medium for external parameter calibration of a vehicle-mounted camera. Background technique [0002] With the advancement of technology and the development of science and technology, autonomous driving has become a research hotspot in the field of transportation tools at this stage. Due to the low cost of cameras, visual perception systems based on computer image processing are widely used in the field of autonomous driving. When the camera is used in the field of autonomous driving, the external parameters of the camera are generally calibrated before the vehicle leaves the factory. However, after the vehicle travels for a long time, the installation position of the camera will shift to a certain extent, or the vehicle will be under different loads and different road conditions. , the relative position of the camera and the cen...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is that in the prior art, when the vehicle is driving on a road without lanes, the target ranging accuracy based on the vehicle camera is low and the stability is poor.

Images